Auxiliary control method of parallel robot at glass curtain wall construction terminal

Abstract

The invention discloses an auxiliary control method of a parallel robot at a glass curtain wall construction terminal, and the method specifically comprises the following steps: S1, designing and printing a two-dimensional code, and pasting the two-dimensional code to a diagonal position of a mounting position by a worker; the invention relates to the technical field of glass curtain wall installation. According to the auxiliary control method of the parallel robot at the glass curtain wall construction terminal, a camera is used for performing auxiliary control on the glass curtain wall installation robot, a two-section robot control mode is used for controlling the robot, the control scheme is simple, the operation process is simple, meanwhile, the position of a current motion platform is judged, and the operation efficiency is improved. The cable-driven parallel robot motion platform is arranged on the glass curtain wall, alarm information is sent when the cable-driven parallel robot motion platform does not arrive at the installation position, cost is saved, and the problems that in the existing glass curtain wall installation process, the construction period is delayed due to the fact that the installation process is difficult, and the labor cost in the installation process is reduced are solved. And the control complexity is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of glass curtain wall installation, and in particular to an auxiliary control method of a parallel robot at a glass curtain wall construction terminal. Background Art

[0002] Glass curtain wall refers to the building's external protective structure or decorative structure that has a certain displacement capacity relative to the main structure and does not share the effects on the main structure. It is a beautiful and novel method of building wall decoration and a notable feature of the modernist high-rise building era. The wall has two types of single-layer and double-layer glass, which has the advantages of being light and beautiful, not easy to pollute, and saving energy. The traditional glass curtain wall installation machine method is mainly to install a lifting device on the roof, bind the glass curtain wall with ropes and then suspend it, or use a scaffolding basket to send workers down with the glass curtain wall. This installation method has problems such as low work efficiency, high work experience requirements, and high work risks. The installation method using a crane + "suction cup" is inefficient, has a small working space, and is not suitable for rapid installation.

[0003] In terms of movement, the existing glass curtain wall installation robots on the market mainly install cantilever beams on the roof and suspend the glass curtain wall with a wire rope winder. Since the lifting device needs to be installed on the roof, there will be certain damage to the building, and the layout time is too long, resulting in low overall operation efficiency. In addition, since there is only a constraint in one direction, the glass curtain wall and the installation basket have poor stability and a low safety factor. The crane + "suction cup" installation method mainly installs a suction cup at the end of the crane arm to transport the glass curtain wall for installation. The crane position needs to be readjusted each time the installation is installed, the installation efficiency is low, and the requirements for technical workers are high. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides an auxiliary control method for a parallel robot at a glass curtain wall construction terminal, which solves the problem that since a lot of glass needs to be installed during construction and the building to be installed is also high, the robot needs a large working space, the working space is small, and it is not suitable for rapid installation.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: an auxiliary control method of a parallel robot at a glass curtain wall construction terminal, specifically comprising the following steps: S1. Design and print the QR code, and have workers paste it to the diagonal of the installation location; S2. The construction personnel control the robot controller and move the motion platform by pressing buttons to reach a position close to the installation. At the same time, the camera is turned on to scan in real time whether there is a QR code in the current field of view and record the position of the motion platform in real time. S3. After arriving nearby, if the camera recognizes the QR code in the field of view, it reads the position of the QR code, compares the data with the current position of the glass curtain wall, and starts to move. If not, it continues to send an alarm signal to the robot controller, and the worker controls the robot controller again to move the motion platform; S4. If they match, cooperate with the workers to install and complete the installation process. If they do not match, the current installation is judged to be wrong, and the motion platform of the ground camera is used for positioning. If there is an error, the data is fed back. If there is no error, the QR code is scanned again and the installation process is carried out again. S5, perform camera-assisted control of the motion platform, obtain the current motion platform position and the distance QR code position in real time, perform kinematic calculations, convert them into the length of the rope, control the motor, and then control the movement of the motion platform, gradually completing terminal control; S6. After completing the task, the path taken is obtained from the point recording unit in the robot controller, and the path is sent to the robot kinematic calculation module. The robot starts to automatically return to the origin, completing an installation.

[0006] Preferably, a QR code is set in S1, and the QR code data is burned on the computer, which contains the location information of each glass curtain wall installation.

[0007] Preferably, in S2, a camera is installed on the upper part of the robot motion platform, the field of view of the depth camera is adjusted to cover the working space in front of the motion platform, the internal parameters of the camera are adjusted to eliminate the influence of distortion, and a two-dimensional code recognition module and a depth measurement module are installed at the same time, so that the camera has the ability to recognize two-dimensional codes and measure lengths. The two-dimensional code recognition module obtains a black pixel point set that is an empty set as a target black pixel point set, and obtains the two-dimensional code information of a two-dimensional code reference picture corresponding to the target black pixel point set as the two-dimensional code information of the two-dimensional code image to be recognized.

[0008] Preferably, the depth measurement module is used to calculate the structured light decoded depth image of the object to be measured in the camera coordinate system according to the coded pattern sequence photographed by the camera, including: Sequence of coded patterns captured by camera ,i=1,2,..., , calculate the coordinates of any pixel in the camera imaging plane ( ) of the multi-cycle encoding phase With single cycle encoding phase , the expression is as follows: ; In the formula, The i-th dual-frequency phase-shift structured light coding pattern taken by the camera; Compute coordinates by phase unwrapping The absolute phase ; ; Where, Tm and Ts are the period pixel lengths of the multi-period coding pattern and the single-period coding pattern respectively, and [*] is the nearest integer operator; according to , the intrinsic parameter matrix of the camera and the structured light projection module, the coordinate transformation matrix between the camera and the structured light projection module, and the structured light decoding depth image of the object to be measured in the camera coordinate system are calculated by triangulation method .

[0009] Preferably, in S3, a terminal is installed on the motion platform to connect with the camera, a wireless transmission module is installed to communicate wirelessly with the robot controller arranged below, and a point recording unit is arranged in the robot controller to record the path traveled and store it in the robot controller in the form of coordinate points, and plan the path. At the same time, an alarm unit is set in the robot controller. When the camera cannot see the QR code, an alarm is triggered, and feedback is given that the camera signal is not recognized, and manual intervention is performed. At the same time, a program is written to add vision for auxiliary control on the basis of the robot controller controlling the motion platform, and superimpose it on the original basis to complete the control of the entire robot.

[0010] Preferably, the operation of planning the path of the robot motion platform is: B1. Obtain the starting point coordinates and target point coordinates of the robot motion platform in the preset environment perception model; B2. Taking the shortest path length between the starting point coordinates and the target point coordinates as the optimization target condition, and constructing a path planning model by determining constraint conditions; B3. Based on reinforcement learning and optimization algorithm, the path planning model is optimized and solved, and the optimal planning path of the robot motion platform is determined according to the optimal solution.

[0011] Preferably, in S3, after obtaining the data, the data is compared with the current position of the glass curtain wall, and the result of the comparison is: Result 1: If the QR code exists, proceed to the next step; Result 2: If it does not exist, the alarm system is activated, an alarm signal is sent to the robot controller, and the robot stops running; After receiving the alarm message, the worker continues to use the manual control mode to control and move the motion platform. The camera continues to scan the QR code. If the QR code is found, a signal is sent to the robot controller to perform auxiliary control again.

[0012] Preferably, the specific operation of S5 is: s51. The camera finds the QR code, scans the QR code, obtains the vector value different from the QR code, and then converts it into the rope length value of the cable-driven parallel robot, automatically controls the rope of the robot, and uses PD control here; s52. After one control, continue to use the camera to scan and iteratively control the control amount of the rope length until it reaches the position it should reach, thus completing the camera-assisted control; s53. At the same time, the position of the motion platform is continuously recorded. After completion, a teaching return is performed according to the recorded starting point to complete an installation process.

[0013] The present invention provides an auxiliary control method of a parallel robot at a glass curtain wall construction terminal. Compared with the prior art, it has the following beneficial effects: , the auxiliary control method of the parallel robot at the glass curtain wall construction terminal uses a camera to assist in the control of the glass curtain wall installation robot, and uses a two-stage robot control method to control the robot. The control scheme is simple and the operation process is simple. At the same time, the position of the current motion platform is also judged, and an alarm message is sent when it has not arrived, thereby saving costs and solving the problems of the existing installation of glass curtain walls, such as installation process difficulties that lead to construction delays and reduce labor costs during the installation process.

[0014] , the auxiliary control method of the parallel robot at the glass curtain wall construction terminal reduces the complexity of control by finding the installation position of the cable-driven parallel robot motion platform on the glass curtain wall, reduces the control accuracy requirements of the cable-driven parallel robot during installation, reduces the cost of workers, lowers the threshold for use, and uses cameras for auxiliary positioning. It is cheap and reduces the cost of use. At the same time, it speeds up the installation efficiency, can quickly install the glass curtain wall, and improves the efficiency of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a flow chart of the steps of the present invention; Figure 2 is a communication block diagram of the present invention; Figure 3 This is a flow chart of the path planning of the present invention. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] See also Figure 1-3 The present invention provides two technical solutions: an auxiliary control method of a parallel robot at a glass curtain wall construction terminal, specifically comprising the following steps: S1. Design and print the QR code, and have workers paste it to the diagonal of the installation location; S2. The construction personnel control the robot controller and move the motion platform by pressing buttons to reach a position close to the installation. At the same time, the camera is turned on to scan in real time whether there is a QR code in the current field of view and record the position of the motion platform in real time. S3. After arriving nearby, if the camera recognizes the QR code in the field of view, it reads the position of the QR code, compares the data with the current position of the glass curtain wall, and starts to move. If not, it continues to send an alarm signal to the robot controller, and the worker controls the robot controller again to move the motion platform; S4. If they match, cooperate with the workers to install and complete the installation process. If they do not match, the current installation is judged to be wrong, and the motion platform of the ground camera is used for positioning. If there is an error, the data is fed back. If there is no error, the QR code is scanned again and the installation process is carried out again. S5, perform camera-assisted control of the motion platform, obtain the current motion platform position and the distance QR code position in real time, perform kinematic calculations, convert them into the length of the rope, control the motor, and then control the movement of the motion platform, gradually completing terminal control; S6. After completing the task, the path taken is obtained from the point recording unit in the robot controller, and the path is sent to the robot kinematic calculation module. The robot starts to automatically return to the origin, completing an installation.

[0018] Among them, a camera is used to assist in the control of the glass curtain wall installation robot, and a two-stage robot control method is used to control the robot. The control scheme is simple and the operation process is simple. At the same time, the position of the current motion platform is also judged, and an alarm message is sent when it has not arrived, thereby saving costs and solving the problems of the existing glass curtain wall installation process that is prone to installation process difficulties leading to construction delays and reducing labor costs during the installation process.

[0019] Embodiment 2 is different from Embodiment 1 in that: in the embodiment of the present invention, a QR code is set in S1, and the QR code data is burned on the computer, which contains the location information of each glass curtain wall installation.

[0020] In the embodiment of the present invention, in S2, a camera is installed on the upper part of the robot motion platform, the field of view of the depth camera is adjusted to cover the working space in front of the motion platform, the internal parameters of the camera are adjusted to eliminate the influence of distortion, and a two-dimensional code recognition module and a depth measurement module are installed at the same time, so that the camera has the ability to recognize two-dimensional codes and measure lengths. The two-dimensional code recognition module obtains a black pixel point set that is an empty set as a target black pixel point set, and obtains the two-dimensional code information of the two-dimensional code reference picture corresponding to the target black pixel point set as the two-dimensional code information of the two-dimensional code image to be recognized.

[0021] In an embodiment of the present invention, the depth measurement module is used to calculate the structured light decoded depth image of the object to be measured in the camera coordinate system according to the coded pattern sequence photographed by the camera, including: Sequence of coded patterns captured by camera ,i=1,2,..., , calculate the coordinates of any pixel in the camera imaging plane ( ) of the multi-cycle encoding phase With single cycle encoding phase , the expression is as follows: ; In the formula, The i-th dual-frequency phase-shift structured light coding pattern taken by the camera; The coordinates are calculated by phase unwrapping ( )’s absolute phase ; ; Where, Tm and Ts are the period pixel lengths of the multi-period coding pattern and the single-period coding pattern respectively, and [*] is the nearest integer operator; according to , the intrinsic parameter matrix of the camera and the structured light projection module, the coordinate transformation matrix between the camera and the structured light projection module, and the structured light decoding depth image of the object to be measured in the camera coordinate system are calculated by triangulation method .

[0022] In the embodiment of the present invention, in S3, a terminal is installed on the motion platform to connect with the camera, a wireless transmission module is installed to communicate wirelessly with the robot controller arranged below, and a point recording unit is arranged in the robot controller to record the path traveled and store it in the robot controller in the form of coordinate points. The path is planned, and an alarm unit is set in the robot controller. When the camera cannot see the QR code, an alarm is triggered, and feedback is given that the camera signal is not recognized, manual intervention is performed, and a program is written. On the basis of the robot controller controlling the motion platform, vision is added for auxiliary control, and it is superimposed on the original basis to complete the control of the entire robot.

[0023] Among them, the point recording unit usually refers to a device or functional module that can record, store and analyze specific point information. It monitors, analyzes and optimizes the target object or system by capturing, processing and recording the point information. When recording the path traveled by the motion platform, the point recording unit is used to record the location information, coordinates, and elevation of the measuring point, which helps to ensure the accuracy and safety of the project.

[0024] Among them, the alarm unit is an important component of the security system. Its core function is to issue an alarm in time when an abnormal situation is detected to remind relevant personnel to take countermeasures, thereby reducing potential safety risks. The working principle of the alarm unit usually involves multiple links such as sensor technology, signal processing technology and alarm signal output. The sensor is responsible for real-time monitoring of environmental parameters and converting the detected signals into electrical signals. The signal processing unit amplifies, filters, and performs analog-to-digital conversion on the electrical signals output by the sensor to extract useful information. Once an abnormal situation is detected, the alarm signal output unit will quickly issue an alarm to remind relevant personnel to take countermeasures.

[0025] In the embodiment of the present invention, the operation of planning the path of the robot motion platform is: B1. Obtain the starting point coordinates and target point coordinates of the robot motion platform in the preset environment perception model; B2. Taking the shortest path length between the starting point coordinates and the target point coordinates as the optimization target condition, and constructing a path planning model by determining constraint conditions; B3. Based on reinforcement learning and optimization algorithm, the path planning model is optimized and solved, and the optimal planning path of the robot motion platform is determined according to the optimal solution.

[0026] In the embodiment of the present invention, in S3, the obtained data is compared with the current position of the glass curtain wall, and the result of the comparison is: Result 1: If the QR code exists, proceed to the next step; Result 2: If it does not exist, the alarm system is activated, an alarm signal is sent to the robot controller, and the robot stops running; After receiving the alarm message, the worker continues to use the manual control mode to control and move the motion platform. The camera continues to scan the QR code. If the QR code is found, a signal is sent to the robot controller to perform auxiliary control again.

[0027] In the embodiment of the present invention, the specific operation of S5 is: s51. The camera finds the QR code, scans the QR code, obtains the vector value different from the QR code, and then converts it into the rope length value of the cable-driven parallel robot, automatically controls the rope of the robot, and uses PD control here; s52. After one control, continue to use the camera to scan and iteratively control the control amount of the rope length until it reaches the position it should reach, thus completing the camera-assisted control; s53. At the same time, the position of the motion platform is continuously recorded. After completion, a teaching return is performed according to the recorded starting point to complete an installation process.

[0028] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0029] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0030] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An auxiliary control method of a parallel robot at a glass curtain wall construction terminal, characterized in that: The specific steps include: S1. Design and print the QR code, and have workers paste it to the diagonal of the installation location; S2. The construction personnel control the robot controller and move the motion platform by pressing buttons to reach a position close to the installation. At the same time, the camera is turned on to scan in real time whether there is a QR code in the current field of view and record the position of the motion platform in real time. S3. After arriving nearby, if the camera recognizes the QR code in the field of view, it reads the position of the QR code, compares the data with the current position of the glass curtain wall, and starts to move. If not, it continues to send an alarm signal to the robot controller, and the worker controls the robot controller again to move the motion platform; S4. If they match, cooperate with the workers to install and complete the installation process. If they do not match, the current installation is judged to be wrong, and the motion platform of the ground camera is used for positioning. If there is an error, the data is fed back. If there is no error, the QR code is scanned again and the installation process is carried out again. S5, perform camera-assisted control of the motion platform, obtain the current motion platform position and the distance QR code position in real time, perform kinematic calculations, convert them into the length of the rope, control the motor, and then control the movement of the motion platform, gradually completing terminal control; S6. After completing the task, the path taken is obtained from the point recording unit in the robot controller, and the path is sent to the robot kinematic calculation module. The robot starts to automatically return to the origin, completing an installation.

2. The auxiliary control method of a parallel robot at a glass curtain wall construction terminal according to claim 1 is characterized in that: In the S1, a QR code is set, and the QR code data is burned on the computer, which contains the location information of each glass curtain wall installation.

3. The auxiliary control method of a parallel robot at a glass curtain wall construction terminal according to claim 1, characterized in that: In S2, a camera is installed on the upper part of the robot motion platform, the field of view of the depth camera is adjusted to cover the working space in front of the motion platform, the internal parameters of the camera are adjusted to eliminate the influence of distortion, and a two-dimensional code recognition module and a depth measurement module are installed at the same time, so that the camera has the ability to recognize two-dimensional codes and measure lengths. The two-dimensional code recognition module obtains a black pixel point set that is an empty set as a target black pixel point set, and obtains the two-dimensional code information of the two-dimensional code reference picture corresponding to the target black pixel point set as the two-dimensional code information of the two-dimensional code image to be recognized.

4. The auxiliary control method of a parallel robot at a glass curtain wall construction terminal according to claim 3 is characterized in that: The depth measurement module is used to calculate the structured light decoded depth image of the object to be measured in the camera coordinate system according to the coded pattern sequence captured by the camera, including: Sequence of coded patterns captured by camera ,i=1,2,..., , calculate the coordinates of any pixel in the camera imaging plane ( ) of the multi-cycle encoding phase , with a single cycle encoding phase , the expression is as follows: ； In the formula, The i-th dual-frequency phase-shift structured light coding pattern taken by the camera; The coordinates are calculated by phase unwrapping ( )’s absolute phase ; ； Where, Tm and Ts are the period pixel lengths of the multi-period coding pattern and the single-period coding pattern respectively, and [*] is the nearest integer operator; according to , the intrinsic parameter matrix of the camera and the structured light projection module, the coordinate transformation matrix between the camera and the structured light projection module, and the structured light decoding depth image of the object to be measured in the camera coordinate system are calculated by triangulation method .

5. The auxiliary control method of a parallel robot at a glass curtain wall construction terminal according to claim 1, characterized in that: In the S3, a terminal is installed on the motion platform to connect with the camera, a wireless transmission module is installed to communicate wirelessly with the robot controller arranged below, and a point recording unit is arranged in the robot controller to record the path traveled and store it in the robot controller in the form of coordinate points. The path is planned, and an alarm unit is set in the robot controller. When the camera cannot see the QR code, an alarm is triggered, and feedback is given that the camera signal is not recognized, and manual intervention is performed. At the same time, a program is written to add vision for auxiliary control on the basis of the robot controller controlling the motion platform, and superimpose it on the original basis to complete the control of the entire robot.

6. The auxiliary control method of a parallel robot at a glass curtain wall construction terminal according to claim 5, characterized in that: The operation of planning the path of the robot motion platform is: B1. Obtain the starting point coordinates and target point coordinates of the robot motion platform in the preset environment perception model; B2. Taking the shortest path length between the starting point coordinates and the target point coordinates as the optimization target condition, and constructing a path planning model by determining constraint conditions; B3. Based on reinforcement learning and optimization algorithm, the path planning model is optimized and solved, and the optimal planning path of the robot motion platform is determined according to the optimal solution.

7. The auxiliary control method of a parallel robot at a glass curtain wall construction terminal according to claim 1, characterized in that: In S3, after the data is obtained, it is compared with the current position of the glass curtain wall, and the result of the comparison is: Result 1: If the QR code exists, proceed to the next step; Result 2: If it does not exist, the alarm system is activated, an alarm signal is sent to the robot controller, and the robot stops running; After receiving the alarm message, the worker continues to use the manual control mode to control and move the motion platform. The camera continues to scan the QR code. If the QR code is found, a signal is sent to the robot controller to perform auxiliary control again.

8. The auxiliary control method of a parallel robot at a glass curtain wall construction terminal according to claim 1, characterized in that: The specific operation of S5 is: s51. The camera finds the QR code, scans the QR code, obtains the vector value different from the QR code, and then converts it into the rope length value of the cable-driven parallel robot, automatically controls the rope of the robot, and uses PD control here; s52. After one control, continue to use the camera to scan and iteratively control the control amount of the rope length until it reaches the position it should reach, thus completing the camera-assisted control; s53. At the same time, the position of the motion platform is continuously recorded. After completion, a teaching return is performed according to the recorded starting point to complete an installation process.

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